after pine tree. GREMLIN WORKS.

.pathplanner/settings.json

@@ -4,7 +4,7 @@
   "holonomicMode": true,
   "pathFolders": [],
   "autoFolders": [],
-  "defaultMaxVel": 3.0,
+  "defaultMaxVel": 4.0,
   "defaultMaxAccel": 4.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,

src/main/deploy/pathplanner/autos/Gremlin Auto Left.auto

@@ -0,0 +1,37 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.4585613729632017,
+      "y": 4.0695657459691
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Gremlin Start"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Speaker Note Shot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Gremlin Path"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/Center Subwoofer to Center.path

@@ -54,7 +54,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/From Subwoofer Far Edge to Amp.path

@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/From Subwoofer Front to Amp.path

@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/Gremlin Path.path

@@ -0,0 +1,123 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.8912450873334795,
+        "y": 4.4671669970120575
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.8912450873334783,
+        "y": 4.4671669970120575
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.013584323464943,
+        "y": 1.9763121007723505
+      },
+      "prevControl": {
+        "x": 1.9257282443058341,
+        "y": 3.278151773659794
+      },
+      "nextControl": {
+        "x": 5.007587451072338,
+        "y": 1.3565219153230341
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.56261040157408,
+        "y": 1.2278862164561943
+      },
+      "prevControl": {
+        "x": 8.317033158282841,
+        "y": 0.09355323553951994
+      },
+      "nextControl": {
+        "x": 8.686725702060071,
+        "y": 1.801180699653394
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.761411027095559,
+        "y": 6.478561561111727
+      },
+      "prevControl": {
+        "x": 8.843270108192637,
+        "y": 4.794603321400375
+      },
+      "nextControl": {
+        "x": 8.68370806922782,
+        "y": 8.077022408676678
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.30563859418317,
+        "y": 7.203599136543003
+      },
+      "prevControl": {
+        "x": 7.451665729542288,
+        "y": 7.051575128791285
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.7,
+      "rotationDegrees": -178.9636039256695,
+      "rotateFast": true
+    },
+    {
+      "waypointRelativePos": 2.15,
+      "rotationDegrees": 151.60505283278198,
+      "rotateFast": true
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 1.7,
+      "maxWaypointRelativePos": 2.4,
+      "constraints": {
+        "maxVelocity": 3.0,
+        "maxAcceleration": 4.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0
+      }
+    }
+  ],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 64.23067237566114,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 132.61405596961126,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Gremlin Start.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.4585613729632017,
+        "y": 4.0695657459691
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.7743035429090797,
+        "y": 3.9643183559871398
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.9029392417759192,
+        "y": 4.408696224799858
+      },
+      "prevControl": {
+        "x": 1.2654580294915574,
+        "y": 4.02278912819934
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 132.79740183823424,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 180.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/He He He Haw.path

@@ -54,7 +54,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/Just Backup.path

@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/L Sub to Note 1.path

@@ -49,7 +49,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/L Sub to Note 2.path

@@ -38,7 +38,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/Left Note 3 to Sub.path

@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/Left Preloaded+Pickup.path

@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/Left Sub to Note 3.path

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.4231793192931113,
+        "x": 2.2243786937716323,
-        "y": 4.081259900411539
+        "y": 4.151424827066179
       },
       "prevControl": {
-        "x": 0.9029392417759192,
+        "x": 0.7041386162544403,
-        "y": 4.280060525933019
+        "y": 4.350225452587658
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/Left Subwoofer.path

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 1.2771521839339972,
+        "x": 1.382399573915957,
-        "y": 6.268066781147808
+        "y": 5.964018765644369
       },
       "prevControl": {
-        "x": 1.709835898304275,
+        "x": 1.8150832882862347,
-        "y": 6.572114796651247
+        "y": 6.268066781147808
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,14 +32,14 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -151.50436138175493,
+    "rotation": -164.4071890607336,
     "rotateFast": false
   },
   "reversed": false,

src/main/deploy/pathplanner/paths/Leftmost Center Note.path

@@ -82,7 +82,7 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/Note 1 to Speaker.path

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 1.3122346472613169,
+        "x": 1.3707054194735169,
-        "y": 6.232984317820488
+        "y": 5.940630456759489
       },
       "prevControl": {
-        "x": 1.756612516074035,
+        "x": 1.8150832882862349,
-        "y": 6.466867406669287
+        "y": 6.1745135456082885
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,14 +32,14 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -141.34019174590983,
+    "rotation": -165.25643716352937,
     "rotateFast": false
   },
   "reversed": false,

src/main/deploy/pathplanner/paths/Note 1 to amp.path

@@ -43,7 +43,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/Note 2 to L Sub (4S).path

@@ -38,7 +38,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/Note 2 to L Sub.path

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 1.2888463383764373,
+        "x": 1.2537638750491173,
-        "y": 6.232984317820488
+        "y": 6.385008325572207
       },
       "prevControl": {
-        "x": 1.6630592805345157,
+        "x": 1.6279768172071958,
-        "y": 6.373314171129768
+        "y": 6.525338178881487
       },
       "nextControl": null,
       "isLocked": false,
@@ -38,14 +38,14 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -144.293308599397,
+    "rotation": -152.10272896905224,
     "rotateFast": false
   },
   "reversed": false,

src/main/deploy/pathplanner/paths/Note 3 to Sub.path

@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/Right Sub Note 3.path

@@ -38,7 +38,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/Right Sub from Center.path

@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/Right Sub to Right Center Note.path

@@ -56,7 +56,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/Right Sub.path

@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/Right Subwoofer to Center.path

@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

src/main/deploy/pathplanner/paths/Right Wall to Sub.path

@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0